Mujoco_WASM

.clang-format

Disable clang-format for MuJoCo public headers and engine source.

2026-03-20 05:06:15 -07:00

CMakeLists.txt

Add new mju_threadpool API function, and delete old threading API.

2026-05-28 10:11:44 -07:00

engine_array_safety.h

Use C++ strcpy_arr in xml_native_reader_test.

2022-06-16 07:15:14 -07:00

engine_callback.c

Fix typos.

2025-01-16 06:28:54 -08:00

engine_callback.h

Initial open sourcing of MuJoCo.

2022-05-23 01:08:49 -07:00

engine_collision_box.c

Introduce mjPreContact, a minimal struct passed into the collision functions.

2026-05-20 10:47:46 -07:00

engine_collision_convex.c

Add internal mj_narrowphase for batch processing of potential geom pair collisions.

2026-05-21 05:16:35 -07:00

engine_collision_convex.h

Rename mjtnum.h to mjtype.h, move enum types to mjtype.h

2026-05-21 06:43:29 -07:00

engine_collision_driver.c

Add new mju_threadpool API function, and delete old threading API.

2026-05-28 10:11:44 -07:00

engine_collision_driver.h

Migrate mjtByte to mjtBool for boolean-valued fields.

2026-05-26 05:35:49 -07:00

engine_collision_gjk.c

Fix multiccd edge bug that occurs in certain situations.

2026-05-27 11:32:45 -07:00

engine_collision_gjk.h

Rename mjtnum.h to mjtype.h, move enum types to mjtype.h

2026-05-21 06:43:29 -07:00

engine_collision_primitive.c

Introduce mjPreContact, a minimal struct passed into the collision functions.

2026-05-20 10:47:46 -07:00

engine_collision_primitive.h

Rename mjtnum.h to mjtype.h, move enum types to mjtype.h

2026-05-21 06:43:29 -07:00

engine_collision_sdf.c

Migrate mjtByte to mjtBool for boolean-valued fields.

2026-05-26 05:35:49 -07:00

engine_collision_sdf.h

Rename mjtnum.h to mjtype.h, move enum types to mjtype.h

2026-05-21 06:43:29 -07:00

engine_core_constraint.c

Optimize mj_flex performance.

2026-05-27 10:05:30 -07:00

engine_core_constraint.h

Rename mjtnum.h to mjtype.h, move enum types to mjtype.h

2026-05-21 06:43:29 -07:00

engine_core_smooth.c

Clean-up flex assumptions.

2026-04-22 08:01:34 -07:00

engine_core_smooth.h

Rename mjtnum.h to mjtype.h, move enum types to mjtype.h

2026-05-21 06:43:29 -07:00

engine_core_util.c

Optimize flex by pinning nodes in empty cells.

2026-04-20 04:41:17 -07:00

engine_core_util.h

Rename mjtnum.h to mjtype.h, move enum types to mjtype.h

2026-05-21 06:43:29 -07:00

engine_crossplatform.cc

Fix false positives from mjData stack leakage detection.

2024-02-22 08:03:51 -08:00

engine_crossplatform.h

Fix GitHub Actions for threading.

2026-05-28 12:57:16 -07:00

engine_derivative_fd.c

Migrate mjtByte to mjtBool for boolean-valued fields.

2026-05-26 05:35:49 -07:00

engine_derivative_fd.h

Migrate mjtByte to mjtBool for boolean-valued fields.

2026-05-26 05:35:49 -07:00

engine_derivative.c

Add fast path for flex derivative computation in centered flexes.

2026-05-15 10:13:22 -07:00

engine_derivative.h

Precompute rotated stiffness matrix before CG in implicit flex integrator.

2026-05-15 02:58:06 -07:00

engine_forward.c

Add new mju_threadpool API function, and delete old threading API.

2026-05-28 10:11:44 -07:00

engine_forward.h

Rename mjtnum.h to mjtype.h, move enum types to mjtype.h

2026-05-21 06:43:29 -07:00

engine_global_table.h

Refactor global object tables logic.

2024-02-09 06:50:06 -08:00

engine_init.c

Rename mjtnum.h to mjtype.h, move enum types to mjtype.h

2026-05-21 06:43:29 -07:00

engine_init.h

Break out struct initialization functions into engine_init.c.

2025-09-25 19:22:27 -07:00

engine_inline.h

Rename mjtnum.h to mjtype.h, move enum types to mjtype.h

2026-05-21 06:43:29 -07:00

engine_inverse.c

Add mjENBL_DIAGEXACT for exact constraint diagonal. Fixes #2472

2026-05-17 16:47:54 -07:00

engine_inverse.h

Initial open sourcing of MuJoCo.

2022-05-23 01:08:49 -07:00

engine_io.c

Merge pull request #3120 from Ashutosh0x:fix/safe-overflow-msvc

2026-05-29 03:12:40 -07:00

engine_io.h

Add flex_bendingadr to mjModel.

2026-05-02 00:13:39 -07:00

engine_island.c

Allow flex sleeping

2026-05-19 07:15:27 -07:00

engine_island.h

Remove mjMARKSTACK and mjFREESTACK macros.

2023-09-05 11:41:43 -07:00

engine_macro.h

Clean up includes in src/engine

2025-09-16 09:36:44 -07:00

engine_memory.c

Fix GitHub Actions for threading.

2026-05-28 12:57:16 -07:00

engine_memory.h

Add new mju_threadpool API function, and delete old threading API.

2026-05-28 10:11:44 -07:00

engine_name.c

Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2

2025-10-01 07:58:17 -07:00

engine_name.h

Split name2id and id2name into a separate source file.

2024-06-27 10:50:21 -07:00

engine_passive.c

Add bounds check for cached node indices in passive mesh.

2026-05-15 08:50:49 -07:00

engine_passive.h

Implement multi-cell finite element method for interpolated flexes.

2026-04-17 04:13:19 -07:00

engine_plugin.cc

Introduce mjpEncoder plugin architecture

2026-03-25 05:35:39 -07:00

engine_plugin.h

Introduce mjpEncoder plugin architecture

2026-03-25 05:35:39 -07:00

engine_print.c

Migrate mjtByte to mjtBool for boolean-valued fields.

2026-05-26 05:35:49 -07:00

engine_print.h

Functions for printing the contents of mjvScene.

2025-09-29 02:47:17 -07:00

engine_ray.c

Migrate mjtByte to mjtBool for boolean-valued fields.

2026-05-26 05:35:49 -07:00

engine_ray.h

Migrate mjtByte to mjtBool for boolean-valued fields.

2026-05-26 05:35:49 -07:00

engine_sensor.c

Add new mju_threadpool API function, and delete old threading API.

2026-05-28 10:11:44 -07:00

engine_sensor.h

Add actuator and sensor delays. Fixes #1004

2026-02-06 08:47:36 -08:00

engine_setconst.c

Allow flex sleeping

2026-05-19 07:15:27 -07:00

engine_setconst.h

Initial open sourcing of MuJoCo.

2022-05-23 01:08:49 -07:00

engine_sleep.c

Allow flex sleeping

2026-05-19 07:15:27 -07:00

engine_sleep.h

Allow flex sleeping

2026-05-19 07:15:27 -07:00

engine_solver.c

Make PGS solver constraint visitation order time-independent.

2026-05-13 02:34:30 -07:00

engine_solver.h

Add per-island PGS solver dispatch.

2026-04-28 05:13:54 -07:00

engine_sort.h

Remove -Wno-extra-semi, add workaround for mjSORT confusing some IDEs

2025-09-18 12:28:09 -07:00

engine_support.c

Update MuJoCo version to 3.10.0 following the 3.9.0 release

2026-05-27 03:50:22 -07:00

engine_support.h

Rename mjtnum.h to mjtype.h, move enum types to mjtype.h

2026-05-21 06:43:29 -07:00

engine_thread.cc

Fix GitHub Actions for threading.

2026-05-28 12:57:16 -07:00

engine_thread.h

Add new mju_threadpool API function, and delete old threading API.

2026-05-28 10:11:44 -07:00

engine_util_blas_avx.h

Rename mjtnum.h to mjtype.h, move enum types to mjtype.h

2026-05-21 06:43:29 -07:00

engine_util_blas.c

Rename mjtnum.h to mjtype.h, move enum types to mjtype.h

2026-05-21 06:43:29 -07:00

engine_util_blas.h

Rename mjtnum.h to mjtype.h, move enum types to mjtype.h

2026-05-21 06:43:29 -07:00

engine_util_container.c

Change MuJoCo engine source code function-spacing convention from 3 blank lines to 2

2025-10-01 07:58:17 -07:00

engine_util_container.h

Handle initial_capacity = 0 in mju_arrayListCreate.

2023-08-22 04:04:02 -07:00

engine_util_errmem.c

Merge pull request #3084 from Ashutosh0x:fix/mingw-stat-localtime

2026-03-09 09:54:10 -07:00

engine_util_errmem.h

Add Flex component.

2023-10-12 10:49:35 +01:00

engine_util_misc.c

Optimize mj_flex performance.

2026-05-27 10:05:30 -07:00

engine_util_misc.h

Optimize mj_flex performance.

2026-05-27 10:05:30 -07:00

engine_util_solve.c

Migrate mjtByte to mjtBool for boolean-valued fields.

2026-05-26 05:35:49 -07:00

engine_util_solve.h

Migrate mjtByte to mjtBool for boolean-valued fields.

2026-05-26 05:35:49 -07:00

engine_util_sparse_avx.h

Rename mjtnum.h to mjtype.h, move enum types to mjtype.h

2026-05-21 06:43:29 -07:00

engine_util_sparse.c

Rename mjtnum.h to mjtype.h, move enum types to mjtype.h

2026-05-21 06:43:29 -07:00

engine_util_sparse.h

Rename mjtnum.h to mjtype.h, move enum types to mjtype.h

2026-05-21 06:43:29 -07:00

engine_util_spatial.c

Introduce mjPreContact, a minimal struct passed into the collision functions.

2026-05-20 10:47:46 -07:00

engine_util_spatial.h

Rename mjtnum.h to mjtype.h, move enum types to mjtype.h

2026-05-21 06:43:29 -07:00

engine_vis_init.c

Add flag for depth rendering.

2025-12-18 04:36:26 -08:00

engine_vis_init.h

Clean up includes in src/engine

2025-09-16 09:36:44 -07:00

engine_vis_interact.c

Clean-up flex assumptions.

2026-04-22 08:01:34 -07:00

engine_vis_interact.h

Add Flex component.

2023-10-12 10:49:35 +01:00

engine_vis_visualize.c

Allow flex sleeping

2026-05-19 07:15:27 -07:00

engine_vis_visualize.h

Make mjv_cameraFrame and mjv_cameraFrustum public.

2025-11-14 00:03:18 -08:00